A performance test method for a patrol robot

Abstract

The application discloses a kind of performance test methods of inspection robot, comprising: being tested inspection robot or its running mechanism is installed to guardrail section;By force mechanism, the test force is applied to the tested inspection robot or its running mechanism, the test force includes one or more of simulated rollover torque, simulated obstacle resistance and simulated wind resistance torque;During the application of the test force, the state data of the tested inspection robot or its running mechanism and / or the force data of the force mechanism are obtained;Based on the state data and / or the force data, determine or adjust the design parameter of the tested inspection robot, the design parameter includes one or more of the driver parameter of inspection robot, drive wheel friction parameter, drive wheel size parameter, magnetic wheel parameter and rated load.According to the performance test method of inspection robot of the application, the comprehensive performance test of inspection robot can be carried out in multiple working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of inspection robots, in particular to a performance test method of an inspection robot. BACKGROUND

[0002] With the progress of science and technology, inspection robots are gradually applied to high-risk inspection scenes such as construction roads and bridges. In these scenes, the inspection robot often runs on a non-horizontal working plane and in a complex working condition. Therefore, it is necessary to test the performance of the inspection robot to ensure the running reliability and stability of the inspection robot in a complex working environment.

[0003] CN112277004B discloses a performance quantification evaluation method of an inspection robot, which determines the performance grade of the inspection robot by evaluating comprehensive evaluation indexes such as battery power consumption performance indexes.

[0004] CN115839858A discloses an obstacle test device and obstacle ability test method of a cable tunnel inspection robot, which is used for detecting the obstacle ability of the cable tunnel inspection robot.

[0005] However, there is currently no performance test method for a road guardrail inspection robot, which cannot meet the current demand for comprehensive testing of various performance indexes of the road guardrail inspection robot.

[0006] The content described in the background technology is only for the convenience of understanding the related technology in the art, and is not regarded as an acknowledgement of the prior art. SUMMARY

[0007] Therefore, the present application aims to provide a performance test method of an inspection robot, which can comprehensively test the performance of the inspection robot, especially the road guardrail inspection robot, in multiple working conditions, so as to ensure that its performance meets the requirements of the inspection task in complex working conditions.

[0008] In a first aspect, an embodiment of the present application provides a performance test method of an inspection robot, which can include:

[0009] installing a test inspection robot or its walking mechanism on a guardrail section;

[0010] applying a test action force to the test inspection robot or its walking mechanism through a force applying mechanism, the test action force including one or more of a simulated rollover torque, a simulated obstacle resistance and a simulated wind resistance torque;

[0011] acquiring state data of the test inspection robot or its walking mechanism and / or force data of the force applying mechanism during the application of the test action force;

[0012] determine or adjust design parameters of the tested inspection robot based on the state data and / or the force data, the design parameters comprising one or more of a drive parameter, a drive wheel friction parameter, a drive wheel size parameter, a magnetic wheel parameter, and a rated load of the inspection robot.

[0013] In some embodiments of the present application, the test force comprises a simulated rollover moment;

[0014] applying the test force to the tested inspection robot or the running mechanism thereof by the force applying mechanism comprises applying a vertical downward force to a horizontal action rod installed to a side of the tested inspection robot or the running mechanism thereof away from the guardrail segment by the force applying mechanism to generate the simulated rollover moment.

[0015] In some embodiments of the present application, the test force comprises a simulated wind resistance moment;

[0016] applying the test force to the tested inspection robot or the running mechanism thereof by the force applying mechanism comprises applying a horizontal force to a wind resistance action rod vertically extended from a top of the tested inspection robot or the running mechanism thereof at at least one action height by the force applying mechanism to generate the simulated wind resistance moment.

[0017] In some embodiments of the present application, the test force comprises a simulated obstacle surmounting resistance;

[0018] The method further comprises: controlling the running mechanism of the tested inspection robot to run along the guardrail segment;

[0019] applying the test force to the tested inspection robot or the running mechanism thereof by the force applying mechanism comprises applying the simulated obstacle surmounting resistance in a direction opposite to a running direction of the running mechanism by the force applying mechanism during running of the running mechanism.

[0020] In some embodiments of the present application, the obtaining the state data of the tested inspection robot or the running mechanism thereof comprises: monitoring a distance or a distance change between the running mechanism of the tested inspection robot and the guardrail segment in real time;

[0021] The determining or adjusting the design parameters of the tested inspection robot based on the state data and / or the force data comprises:

[0022] identifying a performance critical point with a distance greater than a preset threshold or a distance change greater than a preset change threshold;

[0023] determining a performance critical parameter of the tested inspection robot according to a test force corresponding to the performance critical point;

[0024] determine or adjust the design parameter based on the performance critical parameter.

[0025] In some embodiments of the present application, the force data of the force applying mechanism is obtained by obtaining a force relationship curve of the test force applied by the force applying mechanism or a corresponding reaction force.

[0026] The design parameter of the tested inspection robot is determined or adjusted based on the state data and / or the force data, including:

[0027] The force mutation point in the force relationship curve is identified as a performance critical point.

[0028] The performance critical parameter of the tested inspection robot is determined according to the test force corresponding to the performance critical point.

[0029] The design parameter is determined or adjusted based on the performance critical parameter.

[0030] In some embodiments of the present application, the walking mechanism includes multiple groups of wave-shaped guide wheels.

[0031] The simulation obstacle resistance is applied by the force applying mechanism in the opposite direction of the walking direction during the walking of the walking mechanism, including: the simulation obstacle resistance is applied by the force applying mechanism in the opposite direction of the walking direction at multiple vertical heights corresponding to the multiple groups of wave-shaped guide wheels.

[0032] In some embodiments of the present application, the state data of the tested inspection robot or its walking mechanism is obtained by monitoring the walking speed and / or walking displacement of the walking mechanism of the tested inspection robot in real time.

[0033] The design parameter of the tested inspection robot is determined or adjusted based on the state data and / or the force data, including: the design parameter is determined or adjusted according to the change of the walking speed and / or walking displacement.

[0034] In some embodiments of the present application, the state data of the tested inspection robot or its walking mechanism is obtained by monitoring the angle between the walking mechanism of the tested inspection robot and the walking direction and / or the angle change data in real time.

[0035] The design parameter of the tested inspection robot is determined or adjusted based on the state data and / or the force data, including: the design parameter is determined or adjusted according to the angle and / or the angle change data.

[0036] In a second aspect, embodiments of the present application also provide a performance test method of an inspection robot, which can include:

[0037] Install the to-be-tested inspection robot or its running mechanism on the guardrail section;

[0038] Apply a test action force to the to-be-tested inspection robot or its running mechanism through a force applying mechanism, the test action force increasing from an initial value to a preset test action force, the test action force including one or more of a simulated rollover torque, a simulated obstacle surmounting resistance and a simulated wind resistance torque;

[0039] During the application of the test action force, acquire state data of the to-be-tested inspection robot or its running mechanism and / or force data of the force applying mechanism;

[0040] Determine a performance test result of the to-be-tested inspection robot based on the state data and / or the force data, wherein:

[0041] If a performance critical point of the state data and / or the force data is identified before the preset test action force is reached, determine a performance critical parameter of the to-be-tested inspection robot according to a test action force corresponding to the performance critical point, and adjust a design parameter of the to-be-tested inspection robot based on the performance critical parameter, the design parameter including one or more of a driver parameter, a driving wheel friction parameter, a driving wheel size parameter and a magnetic wheel parameter of a running mechanism of the inspection robot;

[0042] If no performance critical point occurs until the preset test action force is reached, determine that the to-be-tested inspection robot meets a performance requirement.

[0043] The embodiment of the present application provides an inspection robot performance test method, which can comprehensively evaluate the performance of a road guardrail inspection robot in various road guardrail scenes, and solves the lack of current inspection robot performance test methods. Especially for guardrail inspection robots, such as bottom clamping type and single-sided magnetic type guardrail inspection robots, due to their special support method, it is more difficult to determine the stable operation boundary. The method of the present application innovatively proposes a technical solution for simulating and measuring the limit working condition of such inspection robots under the action of rollover torque, wind resistance torque and obstacle surmounting resistance, which realizes the effective determination of the stable operation boundary of the guardrail inspection robot, and further can guide the comprehensive adjustment and determination of the design parameters of the inspection robot, avoiding the problems of insufficient performance or excessive design of the guardrail inspection robot in actual application.

[0044] In a further aspect, the embodiment of the present application further combines the acquisition of multi-dimensional state data including displacement, velocity, acceleration, distance, angle, etc. on the basis of the application of various test forces including simulated roll-over torque, simulated obstacle resistance and simulated wind resistance torque, to realize multi-angle quantification of the performance of the inspection robot. Furthermore, the embodiment of the present application can adjust key design parameters including driver parameters, drive wheel friction parameters, drive wheel size parameters, magnetic wheel parameters and rated load in a targeted manner in combination with the multi-dimensional state data, to provide an effective adjustment idea and basis for the design parameters of the inspection robot in actual application.

[0045] Some of the other optional features and technical effects of the embodiment of the present application are described below, and some can be understood by reading this document. BRIEF DESCRIPTION OF DRAWINGS

[0046] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings, which show by way of illustration the principles of the application. The elements shown in the figures are not necessarily to scale, and similar or identical elements are denoted by like reference numerals throughout the figures, in which:

[0047] Figure 1 An exemplary flowchart of a performance test method for an inspection robot according to some embodiments of the present application is shown;

[0048] Figure 2 An exemplary structural diagram of an apparatus that can implement a performance test method for an inspection robot according to some embodiments of the present application is shown;

[0049] Figure 3 An exemplary structural diagram of an apparatus that can implement a performance test method for an inspection robot according to some embodiments of the present application is shown;

[0050] Figure 4 An exemplary structural diagram of an apparatus that can implement a performance test method for an inspection robot according to some embodiments of the present application is shown; and

[0051] Figure 5 An exemplary flowchart of a performance test method for an inspection robot according to some other embodiments of the present application is shown.

[0052] In the present disclosure, the same or similar reference numerals are used to denote the same or similar features or components.

[0053] List of reference numerals:

[0054] R - the inspection robot being tested;

[0055] 1 - performance test apparatus;

[0056] 10 - frame; 11 - vertical column;

[0057] 20 - guard rail support member; 21 - guard rail segment; 212 - upper wave structure; 213 - lower wave structure;

[0058] 30 - test support;

[0059] 41 - horizontal action lever; 411 - force receiving end; 412 - action end; 42 - first force applying mechanism (not labeled); 421 - guide rail; 422 - sliding seat; 4221 - connecting rod; 423 - driving mechanism;

[0060] 51 - obstacle surmounting action lever; 511 - first end; 512 - second end; 52 - second force applying mechanism (not labeled); 521 - guide rail; 522 - sliding seat; 523 - driving mechanism;

[0061] 61 - wind resistance action lever; 62 - third force applying mechanism (not labeled); 621 - guide rail; 622 - sliding seat; 623 - driving mechanism. DETAILED DESCRIPTION

[0062] In order to make the objectives, technical solutions, and advantages of the present application clearer, further detailed explanations will be given to the present application in conjunction with the specific embodiments and the accompanying drawings. Herein, the illustrative embodiments of the present application and their explanations are used to explain the present application, but not as a limitation to the present application.

[0063] The term "comprising" and its derivations as used herein are intended to mean "including" and are not intended to mean "consisting only of." The term "or" as used herein is defined as "and / or" unless otherwise indicated. The term "based on" means "based, at least in part, on" unless otherwise indicated. The terms "one example embodiment," "an example embodiment," "one embodiment," and "an embodiment" as used herein describe "at least one example embodiment." The term "another embodiment" as used herein describes "at least one additional embodiment." The terms "first," "second," and the like as used herein do not imply a limitation, but are used for clarity. Other definitions can be found throughout the present disclosure.

[0064] The present application will be further described below in conjunction with the embodiments and the accompanying drawings. The specific embodiments are only used to further explain the present application, and do not limit the protection scope of the claims of the present application.

[0065] As mentioned before, with the progress of science and technology, inspection robots are gradually applied to high-risk inspection scenes such as highways and bridges. In these scenes, inspection robots, especially road guard rail inspection robots, often run in non-horizontal working planes and complex working conditions, and face multiple challenges such as rollover, obstacle surmounting difficulty, and strong wind interference. Especially for magnetic attraction type guard rail inspection robots and lower side support type guard rail inspection robots, due to their special support mode, it is difficult to determine whether their performance is sufficient to maintain stable operation in complex working conditions.

[0066] Currently, no performance test method for a patrol robot, especially for a guardrail patrol robot, under complex working conditions has been proposed, and especially there is a lack of effective means to accurately identify the performance critical point of the patrol robot, especially the guardrail patrol robot. In this case, the performance boundary of the stable operation of the guardrail patrol robot cannot be determined, resulting in a lack of effective guidance for the adjustment and determination of the design parameters of the patrol robot, and the patrol robot often has the problems of insufficient performance or overdesign in actual application.

[0067] To solve at least one of the above technical problems, embodiments of the present application provide a performance test method for a patrol robot, especially a road guardrail patrol robot.

[0068] In some embodiments of the present application, with reference to Figure 1 , the performance test method for the patrol robot can include the following S110-S140.

[0069] S110: Install the tested patrol robot or its walking mechanism on the guardrail section.

[0070] In some embodiments of the present application, the tested patrol robot includes a road guardrail patrol robot, especially a wave-shaped guardrail patrol robot. In some embodiments, the walking mechanism can have a guide wheel in contact with the surface profile of the road guardrail, such as a wave-shaped profile, and a driving wheel. In some embodiments, the tested patrol robot can be installed on the guardrail section by means of magnetic attraction and walk along the extension direction of the guardrail section.

[0071] S120: Apply a test force to the tested patrol robot or its walking mechanism by a force applying mechanism.

[0072] In embodiments of the present application, the test force includes but is not limited to one or more of a simulated rollover torque, a simulated obstacle resistance, and a simulated wind resistance torque.

[0073] S130: During the application of the test force, acquire state data of the tested patrol robot or its walking mechanism and / or force data of the force applying mechanism.

[0074] In embodiments of the present application, the state data includes but is not limited to displacement, speed, acceleration, distance between the patrol robot and the guardrail surface, and angle with the running direction, etc. In some embodiments, the force data of the force applying mechanism includes but is not limited to the acting force applied on the tested patrol robot or its walking mechanism, the reaction force received, or the driving force of the internal mechanism of the force applying mechanism, etc.

[0075] S140: Determine or adjust the design parameters of the tested patrol robot based on the state data and / or the force data.

[0076] In the embodiments of the present application, the design parameters can include one or more of a drive parameter of the inspection robot, a drive wheel friction parameter, a drive wheel size parameter, a magnetic wheel parameter, and a rated load, which will be described in detail below in connection with the steps of the embodiments of the present application.

[0077] In some embodiments, for example in step S140 described above, critical feature points of the state data and / or the force data are optionally identified, and a performance critical parameter of the inspection robot under test is determined according to the test force corresponding to the critical feature points, which will be described in detail below.

[0078] In some embodiments of the present application, referring to Figures 2 to 4 , an exemplary test device 1 capable of implementing the performance test method according to the embodiments of the present application is shown, which can include a frame 10, a guardrail support member 20 fixed to the frame 10 for supporting a guardrail segment 21, and a test support 30. In this embodiment, the test support 30 can be mounted to the side of the inspection robot under test or its running mechanism away from the guardrail segment so as to apply the test force.

[0079] In some embodiments of the present application, referring to Figure 2 , an exemplary test device 1 capable of implementing the performance test method according to the embodiments of the present application is shown, which can include a horizontal action rod 41 and a first force applying mechanism 42 (not labeled) vertically mounted to the frame 10. In this embodiment, the horizontal action rod 41 includes a force receiving end 411 and an action end 412, and the action end 412 is configured to be fixed to at least one (action) position on the back side of the test support 30 (i.e., the side away from the inspection robot R or its running mechanism mounted on the test support). Continuing to refer to Figure 2 , the first force applying mechanism 42 can include a vertically arranged guide rail 421, a sliding seat 422 slidable along the guide rail 421, and a driving mechanism 423, wherein the sliding seat 422 is operatively connected to the force receiving end 411 of the horizontal action rod 41, and the driving mechanism 423 of the first force applying mechanism 42 is configured to drive the sliding seat 422 to displace along the guide rail 421 in the vertical direction to apply a vertical force to the horizontal action rod 41.

[0080] In some embodiments of the present application, the roll-over resistance performance of the inspection robot can be tested.

[0081] In some embodiments, the test force can include a simulated roll-over torque. In this embodiment, the application of the simulated roll-over torque causes the inspection robot R or its running mechanism under test to have a tendency to roll over away from the guardrail segment and towards the ground.

[0082] In some embodiments of the present application, the step of applying a test force to the test patrol robot or its running mechanism by the force applying mechanism can comprise: S120a: applying a vertical downward force to the horizontal action rod by the force applying mechanism to generate a simulated rollover moment.

[0083] In some embodiments of the present application, the horizontal action rod is mounted to a side of the test patrol robot or its running mechanism away from the guardrail segment. Specifically, by applying a vertical downward force to the free end of the horizontal action rod, a simulated rollover moment in the running (vector) direction of the patrol robot will be generated at the fixed end of the horizontal action rod connected to the test patrol robot or its running mechanism. In a specific embodiment, referring to Figure 2 , a vertical downward force is applied to the force receiving end 411 of the horizontal action rod 41 by the first force applying mechanism 42, thereby generating a simulated rollover moment in the vector direction pointing to the running direction of the patrol robot at the action end 412 of the horizontal action rod 41.

[0084] In some embodiments of the present application, for example in the step S120a described above, a vertical downward force can be applied to the horizontal action rod, which increases from an initial value to generate an increasing simulated rollover moment. In this embodiment, the simulated rollover moment can be determined according to the vertical downward force applied by the force applying mechanism and the length parameter of the horizontal action rod. In a specific embodiment, referring to Figure 2 , the length parameter is for example the horizontal distance between the force receiving end 411 and the action end 412, and the magnitude of the simulated rollover moment is equal to the product of the horizontal distance and the vertical downward force.

[0085] In some embodiments of the present application, the driving mechanism is for example a servo motor driving system. In this embodiment, the data of the change of the applied vertical downward force or the corresponding simulated rollover moment over time can be read from the control unit of the driving mechanism. In other embodiments, the vertical downward force read from the control unit can also be transmitted to an additional calculation module to obtain the data of the change of the corresponding simulated rollover moment over time.

[0086] In other embodiments, the driving mechanism is for example a manual driving mechanism. In this embodiment, the applied vertical downward force can be determined according to the reading of the force gauge connected to the driving mechanism and the force receiving end of the horizontal action rod, and the change of the applied vertical downward force over time can be determined for example using video recording or other means, and then the data of the change of the corresponding simulated rollover moment over time can be determined based on the data.

[0087] In some embodiments of the present application, the step of acquiring the state data of the tested inspection robot or its running mechanism and / or the force data of the force applying mechanism during the application of the test force can comprise: S130a: monitoring the distance or distance change between the running mechanism of the tested inspection robot and the guardrail segment in real time.

[0088] In embodiments of the present application, the distance or distance change (rate) can be monitored and recorded in real time by a distance sensing unit, including but not limited to an encoder unit or a speed sensing unit, etc. By way of explanation but not limitation, when the guardrail inspection robot is subjected to a simulated rollover torque, it has a tendency to separate from the guardrail surface, i.e., the distance between the running mechanism of the inspection robot and the guardrail segment has a tendency to increase, which can reflect the deterioration of the contact between the driving wheels and the walking wheels of the inspection robot and the guardrail surface, or even the separation, at which time the inspection robot has a higher risk of losing driving force or even rolling over the guardrail surface.

[0089] In some embodiments of the present application, a preset distance threshold and / or distance change threshold can be acquired. In a specific embodiment, the inspection robot is a magnetic attraction type inspection robot, and the distance threshold and / or distance change threshold is the maximum distance / distance change preset for the inspection robot to ensure the magnetic attraction installation effect.

[0090] In some embodiments of the present application, the step of determining or adjusting the design parameters of the tested inspection robot based on the state data can comprise the following S141a, S141b and S141c:

[0091] S141a: identifying a performance critical point at which the distance is greater than a preset threshold or the distance change is greater than a preset change threshold.

[0092] In some embodiments of the present application, the performance critical point can be identified in the distance change data monitored in the above step S130a. In some embodiments, the distance change data is, for example, a change curve of the distance and / or distance change (rate) with respect to time. In this embodiment, the time at which the distance or distance change rate exceeds the preset threshold is acquired, and this time is taken as the performance critical (time) point of the inspection robot. In this embodiment, during the application of the simulated rollover torque, the distance gradually increases, and when the distance exceeds the distance threshold or the distance change exceeds the distance change threshold, it can be judged that the inspection robot is in a critical (rollover) state that can meet the stable operation requirements. Thus, in this embodiment, the above time can be determined as the performance critical point of the inspection robot.

[0093] S141b: determining the performance critical parameters of the tested inspection robot according to the test force corresponding to the performance critical point.

[0094] In some embodiments of the present application, the test force corresponding to the performance critical point can be determined, for example, in the data of the change of the test force over time. In this embodiment, the test force is, for example, the aforementioned vertical downward force or the simulated rollover torque. In this embodiment, the data of the change of the test force over time is obtained, for example, in the aforementioned step S120a.

[0095] In some embodiments, in combination with the above Figure 2 , the test force corresponding to the performance critical point can be regarded as the maximum vertical downward force or the maximum simulated rollover torque that the inspection robot can withstand under the condition that the preset distance threshold / distance change threshold is met. The maximum simulated rollover torque can also be referred to as the maximum (anti-) rollover torque.

[0096] S141c: determining or adjusting the design parameter based on the performance critical parameter.

[0097] In some embodiments of the present application, for example, in the aforementioned step S141c, the design parameter can refer to the description in the aforementioned S140, which will not be repeated here.

[0098] Through the performance test method of the embodiments of the present application, the anti-rollover performance of the tested inspection robot can be systematically evaluated. As an explanation but not as a limitation, the guardrail inspection robot can be mounted with different monitoring devices at different positions, such as installing a vehicle speed monitoring device at different positions on the back side, installing different air monitoring devices on both sides, etc. Through the test method of the embodiments of the present application, the rollover torque caused by the monitoring devices mounted at different positions on the back side of the test support can be simulated, so that the anti-rollover performance of the inspection robot when different weights of monitoring devices are mounted at different positions can be simulated.

[0099] In some other embodiments of the present application, the maximum (limit) vertical downward force or the maximum (limit) simulated rollover torque that the inspection robot can withstand can also be further determined in combination with the data of the change of the force relationship curve of the force applied by the force applying mechanism over time.

[0100] In some embodiments of the present application, in the process of applying the test force, the step of obtaining the force data of the force applying mechanism can further include: S130b: obtaining the force relationship curve of the test force applied by the force applying mechanism or the corresponding reaction force.

[0101] In some embodiments of the present application, the test force is, for example, the vertical downward force applied to the horizontal force bar in the aforementioned step S120a or the vertical upward reaction force received by the force applying mechanism. In this embodiment, the force relationship curve includes, but is not limited to, the curve of the test force or the corresponding reaction force with respect to time. In other embodiments of the present application, the force relationship curve can also include the curve of the simulated roll torque applied to the tested inspection robot or its running mechanism by the force applying mechanism, which can be obtained according to the method described in the aforementioned step S120a.

[0102] In some embodiments of the present application, the step of determining or adjusting the design parameters of the tested inspection robot based on the state data and / or the force data can further include the following steps: S142a, S142b and S142c.

[0103] S142a: identifying the force mutation point in the force relationship curve as the performance critical point.

[0104] In some embodiments of the present application, the performance critical point can be identified in the force relationship curve obtained in the aforementioned step S130b. In this embodiment, the force mutation point can include the force mutation (time) point at which the test force or the corresponding reaction force changes from increasing to decreasing. As an explanation but not as a limitation, during the process of increasing the vertical downward force applied by the force applying mechanism, the simulated roll torque acting on the inspection robot increases continuously, and the force relationship curve shows an upward trend over time, which indicates that the current vertical downward force is still within the bearing range of the inspection robot. However, when the force relationship curve changes from an upward trend to a sharp decrease at a certain point, it indicates that the vertical downward force (and the corresponding simulated roll torque) at this point has reached the bearing limit of the inspection robot. In particular, for a magnetic guardrail inspection robot, it indicates that the magnetic force can no longer keep the inspection robot on the guardrail, and the effect of the magnetic force is even more sharply weakened as the distance between the magnetic wheel and the guardrail increases. Therefore, in this embodiment, the force mutation (time) point in the aforementioned force relationship curve can be determined as the performance critical point of the inspection robot.

[0105] S142b: determining the performance critical parameter of the tested inspection robot according to the test force corresponding to the performance critical point.

[0106] In some embodiments of the present application, the test force corresponding to the force mutation point in the force relationship curve can be determined as the performance critical parameter of the tested inspection robot. In this embodiment, the force relationship curve is obtained in the aforementioned step S130b. In this embodiment, unlike the performance critical parameter determined in the aforementioned S141b, the performance critical parameter determined in the aforementioned step S142b can be used to reflect the limit (anti-roll) performance of the tested inspection robot.

[0107] S142c: determining or adjusting the design parameter based on the performance critical parameter.

[0108] In some embodiments of the present application, the design parameter can be referred to the description in S140 as aforementioned, which will not be repeated here. Through the steps of the performance test method of the embodiments, the anti-rollover capability corresponding to the current design parameter can be systematically evaluated, especially the limit anti-rollover capability corresponding to the current design parameter can be evaluated, thereby providing guidance for the determination or adjustment of the design parameter of the inspection robot.

[0109] In some other embodiments of the present application, referring to Figure 3 , another exemplary test device 1 capable of implementing the performance test method according to the embodiments of the present application is shown, which can include a vertical column 11 arranged on the top of a frame 10, a wind resistance action rod 61 vertically extending from the top of a test support 30, and a third force applying mechanism 62 (not labeled) mounted to the vertical column 11 transversely to the vertical column 11. Referring to Figure 3 , the third force applying mechanism 62 includes a guide rail 621, a sliding seat 622 slidable along the guide rail 621, and a driving mechanism 623, wherein the sliding seat 622 of the third force applying mechanism 62 is configured to be operatively connected to at least one action height of the wind resistance action rod 61, for example Figure 3 the top of the wind resistance action rod 61 as shown in

[0110] In some embodiments of the present application, the wind resistance performance of the inspection robot can be tested. In some embodiments, the test force can include a simulated wind resistance torque. In this embodiment, the application of the simulated wind resistance torque causes the tested inspection robot R or its running mechanism to have a tendency to disengage from the guardrail section and roll over to the ground, or the overall posture to tilt and unable to operate normally.

[0111] In some embodiments of the present application, the step of applying a test force to the tested inspection robot or its running mechanism by the force applying mechanism can include: S120b: applying a horizontal force to the wind resistance action rod at at least one action height by the force applying mechanism to generate a simulated wind resistance torque.

[0112] In some embodiments of the present application, the wind resistance action rod vertically extends from the top of the tested inspection robot or its running mechanism. In a specific embodiment, referring to Figure 3 , in order to facilitate installation, the wind resistance action rod 61 vertically extends upward from the top of the test support 30 connected to the running mechanism of the tested inspection robot.

[0113] In some embodiments of the present application, a horizontal force is applied to the wind resistance action rod at an action height, and a simulated wind resistance moment is generated at the end of the tested inspection robot or its running mechanism to which the wind resistance action rod is connected. In this embodiment, the direction of the simulated wind resistance moment changes according to the direction of the applied simulated wind resistance horizontal force. In a specific embodiment, referring to Figure 3 A horizontal force is applied to the wind resistance action rod 61 at an action height by the third force applying mechanism 62, so that a simulated wind resistance moment is generated at the tested support frame connected to the lower end of the wind resistance action rod 61, and further to the tested inspection robot, and the direction of the simulated wind resistance moment is the same as the running direction of the inspection robot.

[0114] In some embodiments of the present application, for example in the step S120b described above, a horizontal force is applied to the wind resistance action rod, and the horizontal force is increased from an initial value, so that a simulated wind resistance moment is generated from the increasing horizontal force. In this embodiment, the simulated wind resistance moment can be determined according to the horizontal force applied by the force applying mechanism and the length parameter of the wind resistance action rod. In a specific embodiment, referring to Figure 3 The length parameter is, for example, the height difference between the action height and the height between the wind resistance action rod 61 and the tested support frame 30, and the magnitude of the simulated wind resistance moment is equal to the product of the height difference and the horizontal force.

[0115] In some embodiments of the present application, the driving mechanism can also include a servo motor driving system or a manual driving mechanism, and the relevant description can be referred to the relevant description in the aforementioned S120a, which will not be repeated here. However, different from the aforementioned S120a, the data read from the control unit of the driving mechanism in S120b is the change data of the applied horizontal force or the corresponding simulated wind resistance moment over time.

[0116] In some embodiments of the present application, during the wind resistance performance test, the step of obtaining the state data of the tested inspection robot or its running mechanism and / or the force data of the force applying mechanism can include: 130a', monitoring the distance or distance change between the running mechanism of the tested inspection robot and the guardrail segment in real time.

[0117] In some embodiments, the description of step S130a' can refer to the content of the aforementioned S130a. The difference is that the monitoring of the distance or distance change in step S130a' is performed when the running mechanism of the tested inspection robot is subjected to a horizontal force (i.e. subjected to a simulated wind resistance moment).

[0118] In some embodiments of the present application, based on the state data and / or the force data, the step of determining or adjusting the design parameters of the tested inspection robot can include: S141a', S141b' and S141c'.

[0119] S141a', identifying a performance critical point corresponding to a distance greater than a preset threshold or a distance change greater than a preset change threshold.

[0120] In some embodiments of the present application, the performance critical point can be identified in distance change data, which can be monitored in step S130a' for example. In some embodiments, the distance change data can be a curve of distance and / or distance change (rate) versus time, for example. In this embodiment, the time when the distance or distance change rate crosses a preset threshold is obtained, and the time is taken as the performance critical (time) point of the inspection robot. By way of illustration but not limitation, the distance gradually increases during the application of the simulated wind resistance moment, and when the distance crosses the distance threshold or the distance change crosses the distance change threshold, it can be judged that the inspection robot is in a critical state capable of meeting the stable operation requirements. Thus, in this embodiment, the above-mentioned time can be determined as the performance critical point of the inspection robot.

[0121] S141b', determining a performance critical parameter of the tested inspection robot according to the test force corresponding to the performance critical point.

[0122] In some embodiments of the present application, the test force corresponding to the performance critical point can be determined in test force change data versus time, for example. In this embodiment, the test force can be the aforementioned horizontal force or simulated wind resistance moment. In this embodiment, the test force change data versus time can be obtained in step S120b mentioned above.

[0123] In some embodiments, in combination with reference to Figure 3 , the test force corresponding to the performance critical point can include the maximum horizontal force or the maximum simulated wind resistance moment that the inspection robot can withstand under the condition of meeting the preset distance threshold / distance change threshold.

[0124] S141c', determining or adjusting the design parameter based on the performance critical parameter.

[0125] In this embodiment, the description of step S141c' can refer to the content in the aforementioned step S141c. In this embodiment, the difference is that in step S141b', the test force corresponding to the performance critical point can include the maximum horizontal force or the maximum simulated wind resistance moment that the inspection robot can withstand under the condition of meeting the preset distance threshold / distance change threshold, and the maximum simulated wind resistance moment can also be referred to as the maximum (anti-) wind resistance moment.

[0126] In some embodiments of the present application, the design parameter can refer to the description in the aforementioned S140, which will not be repeated here, for example in step S141c' mentioned above.

[0127] The performance test method of the embodiment of the present application can systematically evaluate the wind resistance performance of the tested inspection robot. As an explanation but not as a limitation, the guardrail inspection robot is provided with various monitoring devices on the top based on the inspection, especially camera devices, which are often set to a higher height than the top of the inspection robot in order to obtain a good field of view, and thus when subjected to strong wind, the monitoring devices will generate a larger wind resistance torque on the body of the inspection robot, especially on the running mechanism thereof. Through the test method of the embodiment of the present application, the wind resistance torque caused by the monitoring devices installed at different positions on the top of the test support and at different acting heights can be simulated, so that the wind resistance performance of the tested inspection robot or the running mechanism thereof when the monitoring devices with different windward areas are installed at different heights on the top of the tested inspection robot or the running mechanism thereof can be simulated, thereby providing a reference for the adjustment and determination of the design parameters of the inspection robot.

[0128] In some other embodiments of the present application, the maximum (limit) horizontal or maximum (limit) simulated wind resistance torque that can be borne by the inspection robot can be further determined in combination with the data of the change of the force relationship curve of the force applied by the force applying mechanism over time.

[0129] In some embodiments of the present application, the step of obtaining the force data of the force applying mechanism during the application of the test force can further include: S130c: obtaining the force relationship curve of the test force applied by the force applying mechanism or the corresponding reaction force.

[0130] In some embodiments of the present application, the test force is, for example, the horizontal force applied to the wind resistance acting rod in the foregoing step S120a or the horizontal reaction force borne by the force applying mechanism. In this embodiment, the force relationship curve includes but is not limited to the change curve of the test force or the corresponding reaction force with respect to time. In some other embodiments of the present application, the force relationship curve can further include the change curve of the simulated wind resistance torque applied by the force applying mechanism on the tested inspection robot or the running mechanism thereof with respect to time, which can be obtained according to the method described in the foregoing step S120b.

[0131] In some embodiments of the present application, the step of determining or adjusting the design parameters of the tested inspection robot based on the state data and / or the force data can further include the following S142a', S142b' and S142c':

[0132] S142a': identifying the force mutation point in the force relationship curve as a performance critical point.

[0133] S142b': determining the performance critical parameter of the tested inspection robot according to the test force corresponding to the performance critical point.

[0134] S142c': determining or adjusting the design parameters based on the performance critical parameter.

[0135] In some embodiments of the present application, the above description of S142a', S142b' and S142c' can refer to the foregoing description of S142a, S142b and S142c, which will not be repeated here. The difference is that in step S142a', the performance critical point can be identified in the force relationship curve obtained in step S130c, for example. In step S142b', unlike the performance critical parameter determined in the foregoing S142b, the performance critical parameter determined in the above step S142b' can be used to reflect the limit (wind resistance) performance of the tested inspection robot.

[0136] In some embodiments of the present application, the design parameters can refer to the foregoing description of S140, for example, in the above step S142c'. Through the steps of the performance test method of the embodiments of the present application, the (limit) wind resistance capability corresponding to the current design parameters can also be systematically evaluated, thereby providing guidance for the determination or adjustment of the design parameters of the inspection robot, including but not limited to the height of the monitoring equipment mounted on the top of the inspection robot, the windward area, and the magnetic wheel parameters of the magnetic wheel.

[0137] In some embodiments of the present application, referring to Figure 4 , another exemplary test device 1 capable of implementing the performance test method according to the embodiments of the present application is shown, which can include at least one obstacle action rod 51 arranged in parallel with the walking direction of the tested inspection robot R or its walking mechanism, and a second force applying mechanism 52 (not labeled) horizontally mounted to the frame 10. Referring to Figure 4 , the obstacle action rod 51 includes a first end 511 and a second end 512, and the second end 512 is connected to at least one (action) position on the side of the test support 30, such as the middle position on the left side of the test support 30 shown in Figure 2 . Referring to Figure 4 , the second force applying mechanism 52 can include a horizontally arranged guide rail 521, a sliding seat 522 slidable along the guide rail 521, and a driving mechanism 523, wherein the first end 511 of the obstacle action rod is connected to the sliding seat 522.

[0138] In some embodiments of the present application, the obstacle performance of the inspection robot can also be tested. In some embodiments, the test action force can include a simulated obstacle resistance. In this embodiment, when or before the test action force is applied to the tested inspection robot or its walking mechanism by the force applying mechanism, the performance test method can further include: S150: controlling the walking mechanism of the tested inspection robot to walk along the guardrail section.

[0139] In some embodiments of the present application, the traveling mechanism of the testee inspection robot can be controlled to travel along the extension direction of the guardrail section according to preset design (operation) parameters.

[0140] In some embodiments of the present application, the step of applying the test action force to the testee inspection robot or the traveling mechanism thereof by the force applying mechanism can include: S120c, applying the simulated obstacle surmounting resistance in the opposite direction of the traveling direction by the force applying mechanism during the traveling of the traveling mechanism.

[0141] In some embodiments of the present application, the simulated obstacle surmounting resistance includes a horizontal force opposite to the direction of the traveling direction. In this embodiment, the application of the simulated obstacle surmounting resistance causes the testee inspection robot or the traveling mechanism thereof being operated / traveled to have a tendency of reducing the operation speed or reducing the operation acceleration.

[0142] By way of illustration but not limitation, during the traveling of the traveling mechanism, the protrusions, deformations or other obstacles on the guardrail section will cause obstructions to the guide wheels and the drive wheels of the traveling mechanism, the joint parts between adjacent guardrail sections and the guardrail rivet parts will also cause obstructions to the traveling of the traveling mechanism, and the inspection robot needs to have the obstacle surmounting performance to overcome the above obstructions. The simulated obstacle surmounting resistance according to the embodiments of the present application can simulate the resistance caused by the above obstructions, thereby testing the obstacle surmounting performance of the inspection robot.

[0143] In a specific embodiment of the present application, with reference to Figure 4 For example, the second force applying mechanism can be used to apply a horizontal obstacle surmounting resistance to the obstacle surmounting action rod 51 in the opposite direction of the traveling direction of the traveling mechanism of the testee inspection robot.

[0144] In some embodiments of the present application, the traveling mechanism can include multiple groups of wave-shaped guide wheels, and the step of applying the simulated obstacle surmounting resistance in the opposite direction of the traveling direction by the force applying mechanism can include: S120d, applying the simulated obstacle surmounting resistance in the opposite direction respectively on multiple vertical heights corresponding to the multiple groups of wave-shaped guide wheels by the force applying mechanism.

[0145] In some embodiments of the present application, the size of at least one of the multiple simulated obstacle surmounting resistances applied on the multiple vertical heights is different from the size of the other simulated obstacle surmounting resistances. By way of illustration but not limitation, the applicant of the present application notes that there are wave-shaped structures of different vertical heights in the road guardrails, especially the road wave-shaped guardrails. In a specific embodiment, with reference to Figure 4wherein the wave-shaped guardrail has an upper wave-shaped structure 212, a lower wave-shaped structure 213 and an intermediate wave-shaped structure between the two. In this embodiment, in order to better guide, the walking mechanism of the guardrail inspection robot can include a plurality of groups of wave-shaped guide wheels corresponding to at least part of the wave-shaped structure. In this embodiment, when the walking mechanism is in motion, the plurality of groups of wave-shaped guide wheels can contact different wave-shaped structures, and the plurality of groups of wave-shaped guide wheels can be subjected to different obstacle resistance due to the difference in deformation degree of the wave-shaped structure itself, the height difference caused by the joint with other guardrail sections or the difference in rivet deformation.

[0146] In this embodiment, by respectively applying a plurality of the above-mentioned simulated obstacle resistance, the different resistance of the plurality of groups of wave-shaped guide wheels when the guardrail inspection robot passes through the joint of the guardrail can be simulated. Such a test method can further combine, for example, the attitude data of the inspection robot to judge the obstacle crossing performance of the inspection robot, which will be described in detail below.

[0147] In some embodiments of the present application, the step of obtaining the state data of the tested inspection robot or the walking mechanism thereof can include: 130c, monitoring the walking speed and / or walking displacement of the walking mechanism of the tested inspection robot in real time.

[0148] In some embodiments of the present application, the actual walking speed of the monitored inspection robot can be obtained from the displacement sensing unit. By way of explanation and not limitation, the inspection robot should maintain a set speed during walking, and the inspection robot should have enough power to cross the obstacle when encountering the obstacle. If the obstacle crossing performance of the inspection robot meets the requirements, the walking speed and / or walking displacement of the inspection robot will fluctuate when crossing the obstacle and gradually recover; if the obstacle crossing performance of the inspection robot does not meet the requirements, the walking speed and / or walking displacement of the inspection robot will fluctuate and continuously decrease or even stop.

[0149] In some embodiments, the step S130c can optionally include determining the change curve of the walking speed and / or walking displacement over time. In this embodiment, the obstacle crossing process can be more accurately analyzed through the walking speed and / or walking displacement-time curve. For example, if the displacement curve appears a plateau period, it indicates that the inspection robot cannot overcome the obstacle at that moment, and it is judged that the obstacle crossing performance corresponding to the current design parameter is unqualified. In further embodiments, a plateau period threshold can also be set, for example, the obstacle crossing performance corresponding to the current design parameter can be judged as unqualified when the plateau period duration is greater than the threshold.

[0150] In some embodiments of the present application, based on the state data and / or the force data, the step of determining or adjusting the design parameters of the tested inspection robot can include: S143a, determining or adjusting the design parameters according to the change of the walking speed and / or walking displacement.

[0151] In some embodiments of the present application, the design parameters can refer to the description in S140 as mentioned above, which will not be repeated here.

[0152] Through the test method of the embodiments of the present application, it can be determined whether the obstacle crossing performance of the test inspection robot meets the requirements without facing different obstacles. In some embodiments, the drive parameters can be determined or adjusted. For the guardrail inspection robot, the determination of the drive parameters needs to balance between meeting the obstacle crossing performance requirements and energy efficiency. Increasing the drive power can improve the ability of the inspection robot to cross the obstacles, but will cause the energy consumption and cost to increase. Conversely, too small drive power cannot provide sufficient torque to overcome the obstacles, resulting in insufficient obstacle crossing performance of the inspection robot. Through the performance test method of the embodiments of the present application, the performance critical point of the inspection robot can be accurately measured under the simulation of the obstacle crossing resistance, so as to provide data support for the optimization of the drive parameters and the drive wheel friction parameters, but not limited to.

[0153] In some embodiments of the present application, the attitude characteristics of the inspection robot can be further evaluated to determine whether the wind resistance performance or the obstacle crossing performance of the inspection robot meets the requirements, but not limited to.

[0154] In some embodiments of the present application, the step of obtaining the state data of the test inspection robot or its running mechanism can further include:

[0155] 130d, real-time monitoring the angle between the running mechanism of the test inspection robot and the running direction and / or the angle change data.

[0156] In some embodiments of the present application, the angle between the running mechanism and the running direction refers to the angle formed between the expected running direction of the running mechanism of the inspection robot and the extension direction of the guardrail section. As an explanation but not limitation, in the normal running state of the inspection robot, the angle should be close to zero or slightly fluctuate around zero, which indicates that the inspection robot travels smoothly along the predetermined route. When the inspection robot is disturbed by external forces (such as wind resistance torque or obstacle crossing resistance), the running mechanism may be deflected relative to the ideal running direction, and the value of the angle will fluctuate in a large range.

[0157] In a specific embodiment, referring to Figure 4 The running mechanism of the inspection robot includes a plurality of groups of wave-shaped guide wheels, which are designed to match the wave-shaped structure of the guardrail to ensure that the inspection robot travels smoothly along the extension direction of the guardrail. When the simulation obstacle crossing resistance or the simulation wind resistance torque is applied, the angle change of the running mechanism relative to the extension direction of the guardrail can be monitored in real time by the attitude sensor (such as a gyroscope, an electronic compass, etc.).

[0158] In some embodiments, the plurality of displacement sensing units can be arranged at different vertical heights, and the attitude of the tested inspection robot or the chassis of the tested inspection robot can be determined indirectly by calculating the difference between the plurality of measured distances.

[0159] In some embodiments of the present application, the step of determining or adjusting the design parameters of the tested inspection robot based on the state data and / or the force data can further comprise: S144a, determining or adjusting the design parameters according to the included angle and / or the included angle change data.

[0160] In some embodiments of the present application, the included angle between the chassis and the moving direction can be used to evaluate the running stability of the inspection robot when it is climbing over obstacles or when it is subjected to wind resistance torque. In the case of an excessively large included angle and / or included angle change, the wave guide wheels can be disengaged from the corresponding wave structures, causing the inspection robot to deviate from the correct path along the guardrail profile. More seriously, during the obstacle climbing process, the inspection robot usually has a certain speed, and an excessively large included angle will cause a deviation trend, so that the inspection robot may deviate from the guardrail and fall off the guardrail, causing equipment damage or safety accidents.

[0161] In some embodiments of the present application, the step S144a can optionally comprise: obtaining a preset included angle range threshold; and determining whether the obstacle climbing performance and / or the wind resistance performance of the tested inspection robot meet the standards according to the included angle and / or the included angle change data and the preset included angle range threshold.

[0162] In some embodiments of the present application, the above-mentioned step S130d and the step S143b can be used in combination with the aforementioned step S120d to further determine the influence of the simulated obstacle climbing resistance at different vertical heights on the obstacle climbing performance of the inspection robot.

[0163] As an explanation rather than a limitation, in actual working environment, the guardrail inspection robot usually needs to climb over various obstacles on the guardrail section, such as guardrail connection parts, rivets, and deformed areas. These obstacles are often distributed at different vertical heights and will hinder the plurality of sets of wave guide wheels of the inspection robot to different degrees. When the inspection robot encounters these obstacles, due to the unbalanced resistance received by the plurality of sets of wave guide wheels, the inspection robot will not only be affected in speed, but also may be subjected to attitude deflection, causing the chassis to form a certain included angle with respect to the ideal moving direction. In combination with the description of the above-mentioned step S130d, when this included angle exceeds the preset threshold, especially during high-speed travel, it may cause some wave guide wheels to disengage from their corresponding wave structures, further exacerbating the attitude deflection, and eventually may cause the inspection robot to deviate from the guardrail.

[0164] In optional embodiments of the present application, the step S130d and the step S143b can be further combined with the aforementioned step S130c and S143a to determine whether the obstacle-crossing performance of the tested inspection robot meets the requirements.

[0165] In some embodiments of the present application, the dynamic stability performance of the inspection robot during obstacle-crossing can be further evaluated by combining the data of the step S130d (real-time monitoring of the angle between the running mechanism and the running direction) and the step S130c (real-time monitoring of the running speed and / or running displacement of the running mechanism), thereby providing guidance for design parameter optimization.

[0166] In optional embodiments, the test method can further include adjusting the design parameters of the inspection robot according to the running speed and / or running displacement, as well as the angle and / or angle change data.

[0167] Through the comprehensive evaluation method of the embodiments of the present application, the performance of the inspection robot in complex obstacle-crossing environments can be comprehensively understood, and various design parameters can be optimized in a targeted manner, especially the structural layout of the wave-shaped guide wheels, the size parameters of the drive wheels, and the power parameters of the drive, thereby improving the obstacle-crossing ability and running stability of the inspection robot in complex guardrail environments.

[0168] In some embodiments of the present application, the step S130d and the step S144a can be combined with the aforementioned step S120a to further determine the maximum simulated wind resistance moment in different directions.

[0169] As an explanation rather than a limitation, in actual working environments, the direction of wind resistance has diversity and uncertainty. Thus, during the operation of the inspection robot, it may be subjected to wind resistance interference from different directions at the same time. These wind resistances not only produce lateral moments that make the inspection robot deviate from the guardrail (such as the rollover moment simulated in the aforementioned S120a), but also have a significant impact on the running posture of the inspection robot. For example, when the direction of wind resistance is parallel or approximately parallel to the direction of travel of the inspection robot, although it does not directly produce a significant rollover moment, it can exert uneven resistance or thrust on the running mechanism of the inspection robot, causing the running mechanism of the inspection robot to deviate from the ideal travel direction and form a large angle. In combination with the description of the aforementioned step 130d, when this angle exceeds a predetermined threshold, the multiple sets of wave-shaped guide wheels of the inspection robot may not be able to correctly match the wave-shaped structure of the guardrail, causing the inspection robot to deviate from the predetermined route, and even to deviate from the guardrail surface due to inertia when traveling at a certain speed.

[0170] In optional embodiments of the present application, the step S130d and the step S144a can be further combined with the aforementioned steps S130a, S141a, S141b and S141c, or combined with the aforementioned steps S130b, S142a, S142b and S142c, to jointly determine whether the wind resistance performance of the tested inspection robot meets the requirements.

[0171] In some embodiments of the present application, the stability performance of the inspection robot under wind interference can be comprehensively evaluated by combining the data of the step S130d (real-time monitoring of the angle between the running mechanism and the running direction) and the step S130a (real-time monitoring of the distance between the running mechanism and the guardrail section).

[0172] In optional embodiments, the test method can further include: applying a plurality of horizontal forces to the wind resistance acting rod at at least one action height through a plurality of force applying mechanisms to generate a plurality of simulated wind resistance moments with different directions; monitoring the distance between the running mechanism of the tested inspection robot and the guardrail section, the angle between the running mechanism and the running direction, and the force relationship curve of the plurality of force applying mechanisms; identifying the performance critical point of the tested inspection robot under the composite wind environment based on the distance, the angle and the force relationship curve; and adjusting the design parameters of the tested inspection robot based on the performance critical point.

[0173] In some embodiments of the present application, the drive parameters (such as the power and output torque of the drive motor) can affect the performance of the inspection robot. It is worth noting that increasing the drive parameters can improve the obstacle crossing ability and load capacity of the inspection robot, but at the same time, it will increase the energy consumption, reduce the battery endurance time and increase the equipment cost; reducing the drive parameters can reduce energy consumption, prolong endurance time and reduce cost, but will weaken the power performance of the robot. For example, in the obstacle crossing performance test (steps S120c, S120d, S130c, etc.), the drive parameters can be increased when the running speed of the inspection robot is reduced by more than a preset threshold and / or the running displacement change stops; the drive parameters can be reduced when the running speed of the inspection robot is reduced by less than a preset threshold and / or the running displacement continues. In some embodiments, the obstacle crossing performance test can also be repeated after the step of determining or adjusting the design parameters until the adjusted parameters just meet the obstacle crossing performance requirements, so as to stop adjusting to avoid overdesign of the parameters, thereby optimizing the endurance and cost while ensuring the performance.

[0174] In some embodiments of the present application, the driving wheel friction parameters (such as driving wheel material, surface texture, friction coefficient) can also affect the performance of the inspection robot. As an explanation, increasing the driving wheel friction parameters can enhance the friction between the tire and the guardrail surface, making the driving force more effectively converted into forward power, thereby improving the obstacle crossing ability and the ability to cross the guardrail junction, for example; but increasing the friction parameters will also increase the travel resistance, resulting in increased energy consumption, reduced endurance, and accelerated wear of the driving system and tires, reducing the service life. For example, in the obstacle crossing performance test (steps S120c, S120d, S130c, etc.), the driver parameters can be increased when the walking speed of the inspection robot is reduced by more than a preset threshold and / or the walking displacement changes stop. As an explanation, it is possible that the driving wheel slips or idles due to insufficient friction parameters, resulting in insufficient obstacle crossing performance. Reduce the driver parameters when the walking speed of the inspection robot is reduced by less than a preset threshold and / or the walking displacement continues. Based on the performance test method of the present application, the obstacle crossing performance test and the driving wheel friction parameter adjustment can also be repeated after the step of determining or adjusting the design parameters, until the adjusted parameters just meet the obstacle crossing performance requirements, and the adjustment can be stopped to avoid increased energy consumption and excessive wear of the system due to excessive friction parameters, and to achieve a balance between obstacle crossing performance and endurance and service life.

[0175] In some embodiments of the present application, the driving wheel size parameters (such as wheel diameter, wheel width, etc.) will affect multiple performances of the inspection robot. For example, increasing the size of the driving wheel can improve the ability of the inspection robot to cross the guardrail junction or deformation area, enhancing the obstacle crossing performance; but at the same time, increasing the size of the driving wheel will result in increased costs (especially for magnetic wheels). It is worth noting that increasing the size of the driving wheel will increase the gap between the main body of the inspection robot and the guardrail section, indirectly increasing the length of the force arm, making the inspection robot more susceptible to side overturning torque and wind resistance torque, reducing the anti-rollover performance and wind resistance performance. This multi-dimensional influence makes the adjustment of the driving wheel size parameter need to consider the data of the obstacle crossing performance test, and / or the anti-rollover performance test and the wind resistance performance test to determine. In some embodiments, if the obstacle crossing performance is found to be insufficient in the obstacle crossing performance test (steps S120c, S120d, S130c, etc.), the size of the driving wheel can be appropriately increased; while if the anti-rollover or wind resistance performance is found to be insufficient in the anti-rollover performance test (steps S120a, S130a, etc.) or the wind resistance performance test (steps S120b, S130a', etc.), the size of the driving wheel can be appropriately reduced. Based on the performance test method of the present application, one or more of the three performance tests can be repeated to make multiple adjustments to the driving wheel size parameters, find the best size parameters that can meet the requirements of obstacle crossing, anti-rollover and wind resistance performance, and achieve a balance between multiple performances of the inspection robot.

[0176] In some embodiments of the present application, the magnetic wheel parameters (such as the magnetic force, the arrangement and number of magnetic strips inside the magnetic wheel, etc.) can affect multiple performances of the magnetic barrier inspection robot. In some embodiments, the increase of the magnetic force of the magnetic wheel can significantly improve the anti-rollover and anti-wind resistance capabilities of the inspection robot, so that it can remain stable in strong crosswinds or heavy loads; but at the same time, the increase of the magnetic force of the magnetic wheel will cause the inspection robot to require greater driving force to move normally, and the magnetic wheel will be difficult to lift from the surface of the guardrail during the obstacle crossing process, reducing the obstacle crossing performance and endurance, and increasing the cost. Conversely, the weakening of the magnetic force of the magnetic wheel will make obstacle crossing easier, reduce running resistance and be more economical, but will weaken the anti-rollover and anti-wind resistance capabilities. In some embodiments, in the obstacle crossing performance test (steps S120c, S120d, S130c, etc.), if it is found that the obstacle crossing performance is insufficient, for example, the walking speed of the inspection robot is reduced by more than a preset threshold and / or the walking displacement change stops, the magnetic force of the magnetic wheel can be appropriately reduced; in the anti-rollover performance test (steps S120a, S130a, etc.) or the anti-wind resistance performance test (steps S120b, S130a', etc.), if it is found that the performance critical parameters of the inspection robot are unqualified, the magnetic force of the magnetic wheel can be appropriately increased. In optional embodiments, the results of at least two of the above multiple performance tests can be integrated, through repeated testing and parameter adjustment, to find the magnetic wheel parameters that can balance the obstacle crossing performance, anti-rollover performance and anti-wind resistance performance, and ensure that the inspection robot can operate stably and reliably under various complex working conditions.

[0177] In some embodiments of the present application, the rated load (such as the weight, number and layout position of the monitoring devices, etc.) can affect multiple performances of the guardrail inspection robot. As an explanation, the increase of the rated load can improve the monitoring ability and the diversity of functions of the inspection robot, but at the same time, it will have an adverse effect on the stability of the inspection robot: the increased load, such as the monitoring devices mounted at multiple positions on the back side, will increase the adverse effect of the rollover moment; at the same time, for example, the monitoring (camera) device which is a certain distance (such as 1-2m) above the top of the inspection robot will increase the center of gravity of the system, and often has a larger windward area, which amplifies the adverse effect of the wind resistance moment, and reduces the wind resistance performance. In some embodiments, in the anti-rollover performance test (steps S120a, S130a, S141a, etc.), if it is found that the distance between the inspection robot and the guardrail segment is too large under the expected rollover moment, the rated load can be considered to be lowered or the load layout can be adjusted (such as reducing the installation height of the monitoring device); in the wind resistance performance test (steps S120b, S130a', S141a', etc.), if it is observed that the posture of the inspection robot is unstable under the action of the simulated wind resistance moment, the rated load can also be considered to be lowered. At this time, when determining the rated load, a balance needs to be achieved between the inspection function requirements and the stability requirements, and through the performance test method of the present application, the stability performance of the inspection robot under different load configurations can be objectively evaluated, providing a scientific basis for the determination of the rated load, and ensuring that the inspection robot can complete the expected monitoring task and maintain sufficient running stability in actual working conditions.

[0178] The performance test method of the inspection robot provided in the embodiments of the present application can comprehensively evaluate the performances of the road guardrail inspection robot in various road guardrail scenes, and solves the lack of current performance test methods of the inspection robot. Especially for the guardrail inspection robot, such as the bottom clamping type and the single-side magnetic attraction type, due to its special support method, it is more difficult to determine the boundary of stable operation, and the method of the present application innovatively proposes a technical solution for simulating and measuring the limit working condition of such inspection robot under the action of the rollover moment, the obstacle resistance and the wind resistance moment, realizes the determination of the stable operation boundary of the guardrail inspection robot, and further can guide the comprehensive adjustment and determination of the design parameters of the inspection robot, avoiding the problems of insufficient performance or overdesign of the guardrail inspection robot in actual application.

[0179] In a further aspect, the embodiment of the present application further combines the acquisition of multi-dimensional state data including displacement, velocity, acceleration, distance, angle, etc. on the basis of the application of various test forces including the simulated roll-over torque, simulated obstacle resistance and simulated wind resistance torque, to realize multi-angle quantification of the performance of the inspection robot. Furthermore, the embodiment of the present application can adjust the key design parameters including the driver parameters, the driving wheel friction parameters, the driving wheel size parameters, the magnetic wheel parameters and the rated load in a targeted manner in combination with the multi-dimensional state data, to provide an effective adjustment idea and basis for the design parameters of the inspection robot in actual application.

[0180] In some embodiments of the present application, the anti-roll-over performance test, the wind resistance performance test and the obstacle crossing performance test are optionally performed in a cyclic iteration manner until the design parameters of the inspection robot meet the expected performance requirements. In some embodiments, the performance test method optionally comprises the following steps: setting the expected target performance parameter combination of the anti-roll-over performance, the wind resistance performance and the obstacle crossing performance, respectively; performing the anti-roll-over performance test to obtain a first performance critical parameter; adjusting the initial design parameters of the inspection robot to obtain first design parameters according to the first performance critical parameter; performing the wind resistance performance test using the first design parameters to obtain a second performance critical parameter; adjusting the first design parameters of the inspection robot to obtain second design parameters according to the second performance critical parameter; performing the obstacle crossing performance test using the second design parameters to obtain a third performance critical parameter; adjusting the second design parameters of the inspection robot to obtain third design parameters according to the third performance critical parameter; repeating the above steps until the anti-roll-over performance, the wind resistance performance and the obstacle crossing performance of the inspection robot all meet the expected target parameter combination.

[0181] In this embodiment, each test result will affect the subsequent design parameter adjustment strategy, and there is mutual influence between the various performances. Through multiple rounds of cyclic testing and targeted adjustment, the design parameter combination meeting the expected target performance parameters can be determined, to ensure that the inspection robot can stably and reliably operate under various complex working conditions. In this embodiment, compared with single testing, this cyclic iteration test method can more comprehensively evaluate the comprehensive performance of the inspection robot, avoids the risk of ignoring other performances due to optimization of a single performance, and greatly improves the scientificity and effectiveness of the design parameter optimization.

[0182] In some embodiments of the present application, another performance test method of the inspection robot is also provided, which can evaluate whether the anti-roll-over performance, the wind resistance performance and the obstacle crossing performance of the inspection robot meet the requirements or not. In some embodiments, as shown in Figure 5 S510: mounting the inspection robot or its running mechanism to be tested to the guardrail section.

[0183] S510: mounting the inspection robot or its running mechanism to be tested to the guardrail section.

[0184] In some embodiments of the present application, the description of step S510 can refer to the content of step S110 described above, and will not be repeated here.

[0185] S520: Apply a test force to the tested inspection robot or its walking mechanism through the force applying mechanism, the test force increasing from an initial value to a preset test force.

[0186] In some embodiments of the present application, for example in step S520, a preset test force can be obtained, which for example corresponds to the maximum (anti-)rollover torque, the maximum (anti-)wind resistance torque or the maximum obstacle resistance that the tested inspection robot or its walking mechanism is expected to withstand. In this embodiment, the value of the preset test force is obtained from model simulation experiments or actual experience, which is not limited by the present application.

[0187] S530: Obtain state data of the tested inspection robot or its walking mechanism and / or force data of the force applying mechanism during the application of the test force.

[0188] In some embodiments of the present application, the description of step S530 can refer to the content of step S130 described above, and will not be repeated here.

[0189] S540: Determine the performance test result of the tested inspection robot based on the state data and / or the force data.

[0190] In some embodiments of the present application, the performance of the tested inspection robot can be determined or the optimization and determination of the design parameters can be guided according to the state data and / or the force data of the tested inspection robot before reaching the preset test force during the application of the test force.

[0191] In some embodiments, continuing to refer to Figure 5 , the step of determining the performance test result of the tested inspection robot based on the state data and / or the force data can include the following S550 and S560.

[0192] S550: If a performance critical point of the state data and / or the force data is identified before reaching the preset test force, determine a performance critical parameter of the tested inspection robot according to the test force corresponding to the performance critical point, and adjust the design parameters of the tested inspection robot based on the performance critical parameter.

[0193] In some embodiments of the present application, the design parameters can include one or more of the drive parameters, the drive wheel friction parameters, the drive wheel size parameters and the magnetic wheel parameters of the walking mechanism of the inspection robot.

[0194] In some embodiments of the present application, if a performance critical point of the state data and / or the force data is identified before the preset test force is reached, it indicates that the test patrol robot cannot withstand the preset test force. In this embodiment, the determination of the performance critical point and the description of adjusting the design parameters of the test patrol robot based on the performance critical parameters can refer to the contents of the aforementioned steps S130a, 141a, S141b and S141c, the contents of the aforementioned steps S130a', 141a', S141b' and S141c', or the contents of the aforementioned steps S130b, 142a, S142b and S142c, and will not be repeated here.

[0195] S560 If no performance critical point occurs until the preset test force is reached, it is determined that the test patrol robot meets the performance requirements.

[0196] In some embodiments of the present application, if no performance critical point occurs until the preset test force is reached, it indicates that the test patrol robot can withstand the expected preset test force and still operate stably, so it can be determined that it meets the anti-rollover, wind resistance or obstacle crossing performance requirements.

[0197] In the embodiments of the present application, the steps and sub-steps of different embodiments can be combined with each other without contradiction to obtain new embodiments, which fall within the protection scope of the present application.

[0198] The patrol robot performance test method provided by the above-mentioned embodiments of the present application can also comprehensively evaluate the various road guardrail scenes specific to the road guardrail patrol robot, combine the preset test force as the performance requirement, continuously optimize the design parameters in the case of not meeting the performance requirement, and thus can more closely guide the adjustment and determination of the design parameters of the patrol robot, further improving the efficiency of the optimization and adjustment of the design parameters.

[0199] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention. In this document, several embodiments of the present invention have been described, but for the sake of brevity, the descriptions of the embodiments are not exhaustive, and identical or similar features or parts between the embodiments may be omitted. In this document, "one embodiment," "some embodiments," "example," "specific example," or "some examples" refers to embodiments applicable to at least one embodiment or example according to the present invention, but not all embodiments. The above terms do not necessarily refer to the same embodiment or example. Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0200] The exemplary systems and methods of the present invention have been specifically shown and described with reference to the above embodiments, which are merely examples of the best mode for implementing the systems and methods. Those skilled in the art will understand that various changes can be made to the embodiments of the systems and methods described herein without departing from the spirit and scope of the invention as defined in the appended claims when implementing the systems and / or methods.

Claims

1. A method for testing the performance of an inspection robot, characterized in that, include: The inspection robot to be tested or its walking mechanism shall be installed on the guardrail section; A test force is applied to the tested inspection robot or its walking mechanism by a force application mechanism. The test force includes one or more of the following: simulated rollover moment, simulated obstacle crossing resistance, and simulated wind resistance moment. During the application of the test force, the status data of the tested inspection robot or its walking mechanism and / or the force data of the force-applying mechanism are acquired. Based on the state data and / or the force data, the design parameters of the tested inspection robot are determined or adjusted. The design parameters include one or more of the following: the robot's actuator parameters, drive wheel friction parameters, drive wheel size parameters, magnet wheel parameters, and rated load. Wherein, when the test force includes simulated obstacle-crossing resistance, the method further includes: controlling the walking mechanism of the tested inspection robot to walk along the guardrail section; the application of test force to the tested inspection robot or its walking mechanism through the force-applying mechanism includes: during the walking process of the walking mechanism, applying the simulated obstacle-crossing resistance in the opposite direction of the walking direction through the force-applying mechanism; Where the test forces include simulated rollover moment and / or simulated wind drag moment. The step of acquiring the status data of the tested inspection robot or its walking mechanism includes: real-time monitoring of the distance or distance change between the walking mechanism of the tested inspection robot and the guardrail section; the step of determining or adjusting the design parameters of the tested inspection robot based on the status data and / or the force data includes: identifying performance critical points where the distance is greater than a preset threshold or the distance change is greater than a preset change threshold, determining the performance critical parameters of the tested inspection robot based on the test force corresponding to the performance critical point, and determining or adjusting the design parameters based on the performance critical parameters; or The step of acquiring the force data of the force-applying mechanism includes: acquiring the force relationship curve of the test force or the corresponding reaction force applied by the force-applying mechanism; the step of determining or adjusting the design parameters of the tested inspection robot based on the state data and / or the force data includes: identifying the force abrupt change point in the force relationship curve as the performance critical point, determining the performance critical parameter of the tested inspection robot according to the test force corresponding to the performance critical point, and determining or adjusting the design parameters based on the performance critical parameter.

2. The performance testing method according to claim 1, characterized in that, The experimental forces include simulated rollover moments; The method of applying a test force to the tested inspection robot or its walking mechanism through the force application mechanism includes: applying a vertically downward force to a horizontal action rod through the force application mechanism to generate the simulated overturning moment, wherein the horizontal action rod is installed on the side of the tested inspection robot or its walking mechanism away from the guardrail section.

3. The performance testing method according to claim 1, characterized in that, The experimental forces include simulated wind drag torque; The method of applying a test force to the tested inspection robot or its traveling mechanism via a force-applying mechanism includes: applying a horizontal force to a wind resistance rod at at least one working height via the force-applying mechanism to generate a simulated wind resistance torque, wherein the wind resistance rod extends vertically from the top of the tested inspection robot or its traveling mechanism.

4. The performance testing method according to claim 1, characterized in that, The traveling mechanism includes multiple sets of wave-shaped guide wheels; During the travel of the traveling mechanism, the simulated obstacle-crossing resistance is applied in the opposite direction of the traveling direction by the force-applying mechanism, including: applying the simulated obstacle-crossing resistance in the opposite direction at multiple vertical heights corresponding to the multiple sets of wave guide wheels by the force-applying mechanism.

5. The performance test method according to claim 1 or 4, characterized in that, The acquisition of the status data of the tested inspection robot or its walking mechanism includes: real-time monitoring of the walking speed and / or walking displacement of the walking mechanism of the tested inspection robot; The step of determining or adjusting the design parameters of the tested inspection robot based on the state data and / or the force data includes: determining or adjusting the design parameters according to the changes in walking speed and / or walking displacement.

6. The performance test method according to claim 1 or 4, characterized in that, The acquisition of the status data of the tested inspection robot or its walking mechanism includes: real-time monitoring of the angle and / or angle change data between the walking mechanism of the tested inspection robot and the walking direction; The step of determining or adjusting the design parameters of the tested inspection robot based on the state data and / or the force data includes: determining or adjusting the design parameters according to the included angle and / or included angle change data.

7. A method for testing the performance of an inspection robot, characterized in that, include: The inspection robot to be tested or its walking mechanism shall be installed on the guardrail section; A test force is applied to the tested inspection robot or its walking mechanism by a force-applying mechanism. The test force increases from an initial value to a preset test force. The test force includes one or more of the following: simulated rollover moment, simulated obstacle crossing resistance, and simulated wind resistance moment. During the application of the test force, the status data of the tested inspection robot or its walking mechanism and / or the force data of the force-applying mechanism are acquired. Based on the state data and / or the force data, the performance test results of the tested inspection robot are determined, wherein: If a performance critical point of the state data and / or the force data is identified before reaching the preset test force, then the performance critical parameters of the tested inspection robot are determined according to the test force corresponding to the performance critical point, and the design parameters of the tested inspection robot are adjusted based on the performance critical parameters. The design parameters include one or more of the following: the drive parameters of the inspection robot's walking mechanism, the friction parameters of the drive wheel, the size parameters of the drive wheel, and the magnetic wheel parameters. If no performance critical point is reached until the preset test force is applied, then the tested inspection robot is determined to meet the performance requirements. Where the test forces include simulated rollover moment and / or simulated wind drag moment. The acquisition of the status data of the tested inspection robot or its walking mechanism includes: real-time monitoring of the distance or distance change between the walking mechanism of the tested inspection robot and the guardrail section; identifying the performance critical points of the status data and / or the force data includes: identifying performance critical points where the distance is greater than a preset threshold or the distance change is greater than a preset change threshold; or, The step of acquiring the force data of the force-applying mechanism includes: acquiring the force relationship curve of the test force or the corresponding reaction force applied by the force-applying mechanism; identifying the performance critical point of the state data and / or the force data includes: identifying the force abrupt change point in the force relationship curve as the performance critical point.

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